US20250268454A1 - Surgical assistance system and surgical assistance device - Google Patents

Surgical assistance system and surgical assistance device

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Publication number
US20250268454A1
US20250268454A1 US18/857,810 US202318857810A US2025268454A1 US 20250268454 A1 US20250268454 A1 US 20250268454A1 US 202318857810 A US202318857810 A US 202318857810A US 2025268454 A1 US2025268454 A1 US 2025268454A1
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US
United States
Prior art keywords
image
capturing units
image capturing
surgery support
support system
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
US18/857,810
Other languages
English (en)
Inventor
Shota Nakamura
Toyofumi YOSHIKAWA
Takayuki KITASAKA
Yuichiro Hayashi
Kensaku Mori
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tokai National Higher Education and Research System NUC
Nagoya Denki Educational Foundation
Original Assignee
Tokai National Higher Education and Research System NUC
Nagoya Denki Educational Foundation
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tokai National Higher Education and Research System NUC, Nagoya Denki Educational Foundation filed Critical Tokai National Higher Education and Research System NUC
Assigned to NAGOYA DENKI EDUCATIONAL FOUNDATION, NATIONAL UNIVERSITY CORPORATION TOKAI NATIONAL HIGHER EDUCATION AND RESEARCH SYSTEM reassignment NAGOYA DENKI EDUCATIONAL FOUNDATION ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: YOSHIKAWA, TOYOFUMI, KITASAKA, TAKAYUKI, MORI, KENSAKU, HAYASHI, YUICHIRO, Nakamura, Shota
Publication of US20250268454A1 publication Critical patent/US20250268454A1/en
Pending legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
    • A61B1/00009—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope
    • A61B1/000095—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope for image enhancement
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
    • A61B1/00009—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope
    • A61B1/000096—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope using artificial intelligence
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00043—Operational features of endoscopes provided with output arrangements
    • A61B1/00045—Display arrangement
    • A61B1/0005—Display arrangement combining images e.g. side-by-side, superimposed or tiled
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00163—Optical arrangements
    • A61B1/00188—Optical arrangements with focusing or zooming features
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/012—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor characterised by internal passages or accessories therefor
    • A61B1/018—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor characterised by internal passages or accessories therefor for receiving instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A61B1/045—Control thereof
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A61B1/05—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/06—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements
    • A61B1/0661—Endoscope light sources
    • A61B1/0676—Endoscope light sources at distal tip of an endoscope
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/06—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements
    • A61B1/0661—Endoscope light sources
    • A61B1/0684—Endoscope light sources using light emitting diodes [LED]
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T5/00—Image enhancement or restoration
    • G06T5/50—Image enhancement or restoration using two or more images, e.g. averaging or subtraction
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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    • G06T5/77—Retouching; Inpainting; Scratch removal
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/13—Edge detection
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
    • G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
    • G16H40/63—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00163—Optical arrangements
    • A61B1/00194—Optical arrangements adapted for three-dimensional imaging
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00743—Type of operation; Specification of treatment sites
    • A61B2017/00778—Operations on blood vessels
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10068—Endoscopic image
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20081—Training; Learning
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20212—Image combination
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30004—Biomedical image processing
    • G06T2207/30096—Tumor; Lesion

Definitions

  • endoscopic surgeries such as laparoscopic surgeries or thoracoscopic surgeries have rapidly become prevalent in place of surgeries under direct view such as conventional laparotomy surgeries or thoracotomy serveries.
  • the endoscopic surgeries have various advantages in terms of esthetic outcome, low invasiveness, or the like.
  • Patent Literature 1 Japanese Patent No. 5975504
  • the disclosure in the present application relates to a surgery support system and a surgery support device illustrated below.
  • the surgery support system and the surgery support device disclosed in the present application can be suitably used for endoscopic surgeries.
  • FIG. 3 is a block diagram schematically illustrating a hardware configuration of an image processing unit 14 .
  • FIG. 5 is an explanatory diagram schematically illustrating a relationship between the captured images 32 - 1 to 32 - 3 and a synthesized image 34 .
  • FIGS. 6 ( a ) to ( d ) are explanatory diagrams sequentially illustrating steps of an obstructing object removal process related to the overall forceps 22 .
  • FIG. 7 is an explanatory diagram schematically illustrating an image of the forceps 22 after the obstructing object removal process related to a handle 22 B has been performed.
  • FIG. 8 is an explanatory diagram illustrating an image cut out from a simulation moving image for a surgery.
  • FIG. 9 is an explanatory diagram illustrating a cause of occurrence of out-of-focus in a synthesized image.
  • FIG. 10 ( a ) is an explanatory diagram illustrating an example of an image before calibration
  • FIG. 10 ( b ) is an explanatory diagram illustrating an example of an image after calibration.
  • the surgery support system 10 includes a surgical assistance device 1 , an image processing unit 14 , a display unit 16 , an operating unit 18 , and the like as main features.
  • the surgical assistance device 1 assists the use of a treatment tool (a forceps 22 in this example) inserted into a body cavity 20 and has image capturing units 2 that captures an image inside the body cavity 20 ( FIG. 2 A to FIG. 2 C ).
  • the image processing unit 14 processes images obtained from the image capturing units 2 .
  • the display unit 16 displays image data image-processed by the image processing unit 14 .
  • the operating unit 18 is used for entry of information required for causing each instrument of the surgery support system 10 to exert the function thereof.
  • a plurality of image capturing units 2 are provided to the surgical assistance device 1 , each image capturing unit 2 captures an image so that the inside of a body cavity appears in the image and, when a treatment tool is inserted in the body cavity, any of the image capturing units 2 captures an image so that the inside of the body cavity including the treatment tool appears in the image.
  • the image processing unit 14 synthesizes images obtained from respective image capturing units 2 to generate a synthesized image and performs an obstructing object removal process of removing at least a part of the image of the treatment tool.
  • the image processing to generate a synthesized image is image processing to synthesize moving images captured by a plurality of image capturing units 2 and thereby generate an image having a wider field of view than a field of view obtained by a single image capturing unit 2 .
  • the obstructing object removal process is performed by using a parallax difference between a plurality of image capturing units 2 .
  • the surgical assistance device 1 may be used as an insertion port that is for inserting a surgical treatment tool into the body cavity 20 .
  • the surgical assistance device 1 is a trocar with a camera also having an image capturing function.
  • a treatment tool may be inserted into the body cavity 20 from a hole other than a hole opened for the surgical assistance device 1 .
  • the surgical assistance device 1 captures an image of the treatment tool inserted from another hole.
  • FIG. 4 schematically illustrates synthesis of images with a case where the surgical assistance device 1 is inserted from a hole other than a hole used for insertion of the treatment tool.
  • the surgical assistance device 1 can be any device that assists the use of a treatment tool inserted in the body cavity 20 and may be, for example, a device used in such a way that the surgical assistance device 1 itself is inserted into a body cavity. Further, the surgical assistance device 1 may be a device used in such a way that the surgical assistance device 1 itself is not inserted into a body cavity but is installed at an incision site of the body.
  • FIG. 2 A illustrates the surgical assistance device 1 similar to that disclosed as one embodiment in the same application.
  • FIG. 2 A is a schematic top view of the surgical assistance device 1
  • FIG. 2 B is a sectional view taken along X-X′ of FIG. 2 A
  • FIG. 2 C is a diagram with removal of the image capturing unit 2 from FIG. 2 B .
  • the surgical assistance device 1 includes the image capturing units 2 , holding parts 3 that hold the image capturing units 2 , and a base member 4 .
  • the base member 4 includes the holding parts 3 .
  • the base member 4 is formed in a tube-like shape, and the image capturing units 2 are attached to the base member 4 through the holding parts 3 .
  • the image capturing units 2 and the holding parts 3 are built in the base member 4 in the example illustrated in FIG. 2 A to FIG. 2 C , the image capturing units 2 (and/or the holding parts 3 ) may protrude from the outer circumferential part of the base member 4 .
  • the number (N) of image capturing units 2 be an integer of three or greater and may be, for example, four or greater, five or greater, six or greater, or the like.
  • N the number of image capturing units 2 in terms of ensuring a sufficient field of view
  • a larger number of image capturing units 2 will make the process in image synthesis complex and also increase the cost.
  • the surgical assistance device 1 is provided with an endoscope or a light source.
  • a light source for example, a chip LED is used, which is connected to an external power source.
  • a sealing mechanism that prevents leakage of air during insertion and extraction of a treatment tool (the forceps 22 in the present embodiment), an air supply mechanism that supplies air into an abdominal cavity, or the like can be provided to the surgical assistance device 1 .
  • the image capturing unit 2 has a zooming function or an autofocus function.
  • the zooming function may be one relying on optical zooming or one relying on digital zooming.
  • the autofocus function will be described later.
  • the image capturing unit 2 captures an image including a treatment tool, and the treatment tool has a treatment part used for treatment inside the body cavity 20 and a non-treatment part continuous to the treatment part.
  • the treatment tool is the forceps 22
  • a pinch part 22 A on the tip side corresponds to the treatment part
  • a handle 22 B continuous to the pinch part 22 A corresponds to the non-treatment part.
  • the pinch part 22 A is formed with a material such as a stainless alloy, and the handle 22 B is coated with an electrical insulating material.
  • the pinch part 22 A can also be referred to as “function part” or the like.
  • the computer device includes a control unit 62 , a storage unit 64 , and a communication unit 66 .
  • the control unit 62 has one or a plurality of processors and peripheral circuits thereof.
  • the control unit 62 controls the overall operation of the image processing unit 14 in an integrated manner and is a central processing unit (CPU), for example.
  • the control unit 62 performs processes based on programs (computer programs such as a driver program, an operating system program, an application program, or the like) stored in the storage unit 64 . Further, the control unit 62 can execute a plurality of programs in parallel.
  • the control unit 62 includes an obstructing object removal unit 72 , an autofocus unit 74 , a depth estimation unit 76 , and a 3D measurement unit 78 .
  • the obstructing object removal unit 72 performs an obstructing object removal function in accordance with an obstructing object removal process described later ( FIG. 4 to FIG. 8 ).
  • the autofocus unit 74 performs an autofocus function ( FIG. 9 to FIG. 11 ).
  • the depth estimation unit 76 performs a depth estimation function
  • the 3D measurement unit 78 performs a 3D measurement function.
  • the storage unit 64 is used for storing information required for performing each function by the control unit 62 .
  • the storage unit 64 has at least one of a semiconductor memory, a magnetic disk device, and an optical disk device.
  • the storage unit 64 stores a driver program, an operating system program, an application program (such as a control program for implementing the function of the image processing unit 14 ), data, or the like used for processes performed by the control unit 62 .
  • the storage unit 64 stores a communication device driver program, which controls the communication unit 66 described later, or the like as the driver program.
  • the computer program may be installed to the storage unit 64 by using a known setup program or the like from a computer readable portable storage medium such as a CD-ROM, a DVD-ROM, or the like, for example. Further, the computer program may be a program downloaded from cloud via a public communication line such as the Internet communication line.
  • the communication unit 66 has an interface circuit used for performing wired communication according to a communication system such as Ethernet (registered trademark) or wireless communication according to a communication system such as Wi-Fi (registered trademark), Wi-Fi Aware (registered trademark), or the like and establishes wired communication or wireless communication with communication units (not illustrated) included in the surgical assistance device 1 , the display unit 16 , the operating unit 18 , or other external instruments (not illustrated) or the like to directly perform transmission of information.
  • a communication system such as Ethernet (registered trademark) or wireless communication according to a communication system such as Wi-Fi (registered trademark), Wi-Fi Aware (registered trademark), or the like and establishes wired communication or wireless communication with communication units (not illustrated) included in the surgical assistance device 1 , the display unit 16 , the operating unit 18 , or other external instruments (not illustrated) or the like to directly perform transmission of information.
  • the interface circuit of the communication unit 66 may be near field communication according to a communication system such as Bluetooth (registered trademark), communication using 920 MHz-band specified low-power radio, or the like.
  • the communication unit 66 is not limited to one for performing wireless communication and may be one for transmitting various signals by infrared communication or the like, for example.
  • the communication unit 66 may be a communication interface for connecting to a universal serial bus (USB) or the like, a communication interface for a wired or wireless local area network (LAN) or the like.
  • USB universal serial bus
  • LAN local area network
  • the obstructing object removal process to remove (also referred to as “delete”) the entire obstructing object will be described based on FIG. 4 to FIG. 6 .
  • the obstructing object removal process to remove the obstructing object while leaving a part thereof will be described based on FIG. 7 and FIG. 8 .
  • peripheral objects of the organ 24 are peripheral objects of the organ 24 , and these peripheral objects 26 , 28 are simplified by stars.
  • One peripheral object 26 appears in the captured image 32 - 1
  • the other peripheral object 28 appears in the captured image 32 - 3 .
  • the peripheral objects 26 , 28 can be said as “organ adjacent” to the organ 24 targeted for incision or “organ present around” the organ 24 targeted for incision or the like.
  • the forceps 22 appears in the captured images 32 - 2 and 32 - 3 . While the organ 24 and the peripheral objects 26 , 28 appear in the synthesized image 34 in the lower part in FIG. 5 , the forceps 22 does not appear. In this generation of the synthesized image 34 , the image of the forceps 22 that appeared in the captured images 32 - 2 and 32 - 3 has been removed.
  • removal of the image of the forceps 22 is automatically performed when the synthesized image 34 is generated.
  • the timing of removal of an image is arbitrary, and an image may be removed by the operator inputting an instruction to the image processing unit 14 via the operating unit 18 , for example.
  • the image processing unit 14 may have a speech recognition function, and the removal of an image may be performed when a voice instruction is detected.
  • the pinch part 22 A and the handle 22 B can also be distinguished from each other by using only the information on colors, use of information on shapes in combination can reduce the impact of noise, and higher detection accuracy is obtained. Further, it is theoretically possible to distinguish the pinch part 22 A and the handle 22 B from each other by using only the information on shapes. However, the detection accuracy is higher when the information on colors is used.
  • FIG. 11 ( a ) illustrates an example of a synthesized image before autofocusing
  • FIG. 11 ( b ) illustrates an example of a synthesized image after autofocusing.
  • What appears in FIG. 11 ( a ), ( b ) is a conductive cable or the like disorderly placed on a desk, which are not an image during a surgery.
  • the blurred synthesized image of FIG. 11 ( a ) is made clear as seen in FIG. 11 ( b ) through the autofocus function.
  • the base member 4 of the surgical assistance device 1 is formed of a flexible material, the mutual positional relationship between the image capturing units 2 - 1 to 2 - 3 is likely to change during a surgery. In such a case, since the accuracy of the synthesized image 34 is likely to decrease, the autofocus function is much more effective.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Medical Informatics (AREA)
  • Optics & Photonics (AREA)
  • Biomedical Technology (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Pathology (AREA)
  • Biophysics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Signal Processing (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Business, Economics & Management (AREA)
  • General Business, Economics & Management (AREA)
  • Epidemiology (AREA)
  • Primary Health Care (AREA)
  • Ophthalmology & Optometry (AREA)
  • Image Processing (AREA)
  • Endoscopes (AREA)
US18/857,810 2022-04-18 2023-03-08 Surgical assistance system and surgical assistance device Pending US20250268454A1 (en)

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JP2022068094 2022-04-18
JP2022-068094 2022-04-18
PCT/JP2023/008852 WO2023203908A1 (ja) 2022-04-18 2023-03-08 手術支援システムおよび手術支援装置

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